Merge pull request #439 from garaemon/robot-command-interface

[jsk_rviz_plugins] Use ~robot_command_buttons parameter to configure …

jsk_rviz_plugins/CMakeLists.txt

@@ -51,9 +51,6 @@ add_definitions(-DQT_NO_KEYWORDS -g)
 #include(${wxWidgets_USE_FILE})
 #include_directories( ${wxWidgets_INCLUDE_DIRS} )
 
-qt4_wrap_ui(UIC_FILES
-  config/robot_command_interface.ui
-  )
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 #set(SOURCE_FILES src/ambient_sound_display.cpp src/ambient_sound_visual.cpp)

jsk_rviz_plugins/README.md

@@ -175,6 +175,19 @@ This will publish std_msgs/Empty to the topic you designate.
 ![RobotCommandInterfaceAction](images/robot_command_interface_action.png)
 
 This will call service to /eus_command with jsk_rviz_plugins/EusCommand srv.
+All the buttons are configured via `~robot_command_buttons` parameters.
+See `robot_command_interface_sample.launch` file to know how to use it.
+
+Parameter format is:
+```yaml
+robot_command_buttons:
+  - name: <name, required>
+    icon: <path to icon file, optional>
+    type: <"euscommand" or "emptysrv", required>
+    command: <S expression to send to eusclient, required if type is euscommand>
+    srv: <service name, required if type is "emptysrv">
+  - name: ...
+```
 
 #### SelectPointCloudPublishAction
 ![SelectPointCloudPublishAction](images/select_point_cloud_publish_action.png)

jsk_rviz_plugins/config/default_robot_command.yaml

@@ -0,0 +1,56 @@
+robot_command_buttons:
+  - name: "Reset Pose"
+    icon: "package://jsk_rviz_plugins/icons/reset-pose.jpg"
+    type: euscommand
+    command: "(send *ri* :angle-vector (send *robot* :reset-pose) 5000))"
+  - name: "Reset Manip Pose"
+    icon: "package://jsk_rviz_plugins/icons/reset-manip-pose.jpg"
+    type: euscommand
+    command: "(send *ri* :angle-vector (send *robot* :reset-manip-pose) 5000)"
+  - name: "Init Pose"
+    icon: "package://jsk_rviz_plugins/icons/init-pose.jpg"
+    type: euscommand
+    command: "(send *ri* :angle-vector (send *robot* :init-pose) 5000)"
+  - name: "Hand reset pose"
+    icon: "package://jsk_rviz_plugins/icons/hand-reset-pose.jpg"
+    type: euscommand
+    command: "(progn (send *robot* :hand :arms :reset-pose) (send *ri* :hand-angle-vector (apply #'concatenate float-vector (send *robot* :hand :arms :angle-vector))))"
+  - name: "Hand hook pose"
+    icon: "package://jsk_rviz_plugins/icons/hand-hook-pose.jpg"
+    type: euscommand
+    command: "(progn (send *robot* :hand :arms :hook-pose) (send *ri* :hand-angle-vector (apply #'concatenate float-vector (send *robot* :hand :arms :angle-vector))))"
+  - name: "Hand grasp pose"
+    icon: "package://jsk_rviz_plugins/icons/hand-grasp-pose.jpg"
+    type: euscommand
+    command: "(progn (send *robot* :hand :arms :grasp-pose) (send *ri* :hand-angle-vector (apply #'concatenate float-vector (send *robot* :hand :arms :angle-vector))))"
+  - name: "Start ABC"
+    icon: "package://jsk_rviz_plugins/icons/start-abc.png"
+    type: euscommand
+    command: "(send *ri* :start-auto-balancer)"
+  - name: "Start ST"
+    icon: "package://jsk_rviz_plugins/icons/start-st.png"
+    type: euscommand
+    command: "(send *ri* :start-st)"
+  - name: "Start IMP"
+    icon: "package://jsk_rviz_plugins/icons/start-imp.png"
+    type: euscommand
+    command: "(send *ri* :start-impedance :arms :moment-gain #f(0 0 0) :k-p 1000 :d-p 400)"
+  - name: "Start IMP for Drill"
+    icon: "package://jsk_rviz_plugins/icons/start-imp-for-drill.png"
+    type: euscommand
+    command: "(send *ri* :start-impedance :rarm :force-gain #f(1 0 0) :moment-gain #f(0 0 0) :k-p 600 :d-p 60)"
+  - name: "Stop ABC"
+    icon: "package://jsk_rviz_plugins/icons/stop-abc.png"
+    type: euscommand
+    command: "(send *ri* :stop-auto-balancer)"
+  - name: "Stop ST"
+    icon: "package://jsk_rviz_plugins/icons/stop-st.png"
+    type: euscommand
+    command: "(send *ri* :stop-st)"
+  - name: "Stop IMP"
+    icon: "package://jsk_rviz_plugins/icons/stop-imp.png"
+    type: euscommand
+    command: "(send *ri* :stop-impedance :arms)"
+  - name: "sample"
+    type: emptysrv
+    srv: "/hoge"

jsk_rviz_plugins/launch/robot_command_interface_sample.launch

@@ -0,0 +1,6 @@
+<launch>
+  <node pkg="rviz" type="rviz" name="$(anon rviz)"
+        args="-d $(find jsk_rviz_plugins)/cfg/robot_command_interface_sample.rviz">
+    <rosparam command="load" file="$(find jsk_rviz_plugins)/config/default_robot_command.yaml" />
+  </node>
+</launch>